Suppose you have a STRIPS representation for actions a 1 and a 2 , and you want to define the STRIPS representation for the composite action a 1 ; a 2 , which means that you do a 1 then do a 2 . What is the effects list for this composite action? What are the preconditions for this composite action? You can assume that the preconditions are specified as a list of Variable = value pairs (rather than as arbitrary logical formulas). Using the delivery robot domain of Example 8.1 (page 350), give the STRIPS representation for the composite action puc ; mc . Give the STRIPS representation for the composite action puc ; mc ; dc made up of three primitive actions. Give the STRIPS representation for the composite action mcc ; puc ; mc ; dc made up of four primitive actions.
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